From the P&D car park, head towards the castle but follow the path to the left of the drawbridge and ticket office. Pass through a kissing gate and follow the path leading around the castle walls to the NW corner. Walk away from the castle here (it's an obvious path) and leave the castle field to the left of a thatched cottage.  Turn left onto a track and ignore one well-signed path on the right (this is where you'll return). Stay on the track, past a couple of houses and High House Farm on the left and keep going until you reach 'The Pleasaunce'.  The Pleasaunce is now a field with some odd bumps and ditches, but in its day it was a royal pleasure garden - if you've read Sir Walter Scott's 'Kenilworth' this is where he describes the scene of mock sea-battles, grottoes, fountains and mazes. There's an interpretation board to help you get the idea.   At the far side of The Pleasaunce, cross a track and go through a kissing gate. Walk in the field with a hedge to your left. Keep going through another kissing gate and then cross a footbridge. This path is well signed with yellow waymarker arrows. Follow the arrows and after just under half-a-mile you'll reach a broad farm track.

Turn right at a track intersection and walk towards the woodland ahead (Chase Wood). Take care, pheasants are bred here.Turn right at the next track junction, near Warriors Lodge Farm, walking on the lane with the woodland on your right side.  Continue straight ahead, passing a turning to Pleasance Farm on your right. Shortly after a group of cottages on your left, take the signed footpath on the right through a kissing gate.  Follow the path down the field, with a great view of the castle. Bear left at the end of the field, through a small copse, and then turn right to continue heading towards the castle.   You'll emerge onto the track from the start of the walk, where you turn left and then retrace your steps past the thatched cottage and back into the castle grounds.